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you need to remove door trim panel there are (2) 7mm screws that hold panel on .. 1 is behind the lower red light lens and the other is behind switch panel for the power window switch . remove both screws and remove small black panel above door trim by pulling strait off .(now there are (4) 11mm nuts the hold mirror on 2 are behind the small
rubber plugs in front of door that you can see with panel on and the
other 2 are under panel that you can see after panel is removed . the wiring need to be disconneced you may have to remove speaker for acess to feed new wiring down into the door good luck

ok then here is the procedure
1 take off the axle nut
2 on the lower control arm you will find a large nut and bolt i belive the nut is a 21mm and the bolt side is an 18mm. this bolt is the one at the knuckle near the brakes. remove it
3 you will need to pull the knuckle out of the way or a helper to pull the knuckle out of the way so you can slip the axle out of the knuckle.( its a tight fit but there is room to slip it out.)
4 use a pry bar to pop the axle free of the diff. hosing its held in by a spring clip make sure the clip comes out with the axle if it gets stuck inside you will have to fish it out.
5 use a pry bar or screwdriver to pry seal out of housing then use a flat object that contacts the entire rim of the new seal so it can evenly be installed with out getting smashed and tap it in with a hammer. ( a good trick here is to use some grease and pack it into the new seal where the spring is this will prevent the spring from being shocked out of the seal during instalation . the spring keeps tension on the rubber in the seal so it stays tight to the shaft it is sealing.)
6 then revers the above steps. also make sure you are using the right gear lube it will most likely be 75w-140 but make sure you check your owners manual will tell you if it doesnt say on the diff cover. you can cause a lot of damage if you put in the wrong thing. and make sure you feel the axle spring clip snap into place.
as a note there are two types of axle seals that are used on these so if the new seal looks different than the old seal then the folliowing will be important to you.the seals on these have been redesigned so if you axle has what looks like a cup or dust cover pressed onto the shaft where it goes into the diff the new style does not use this and it will prevent the axle form going in all the way so the spring clip will not lock in and you will have a leak. so you will have to remove it and install the axle without it.

Wheel bearings are designed for longevity. Their life expectancy, based on metal fatigue, can usually be calculated if general operating conditions are known. Bearing failures not caused by normal material fatigue are called permanent failures. The causes can range from improper lubrication or incorrect mounting, to poor condition of the shaft housing or bearing surfaces.

Inspect the bearings for these improper wear conditions, and for:

A. pitting. B. rust. C. corrosion. D. Excessive clearance(play)

If you find any of the above stated damage. The bearings should be replaced not adjusted. To service the wheel bearings, you'll need to repack the bearings and replace the grease seal.

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Wheel bearings are designed for longevity. Their life expectancy, based on metal fatigue, can usually be calculated if general operating conditions are known. Bearing failures not caused by normal material fatigue are called permanent failures. The causes can range from improper lubrication or incorrect mounting, to poor condition of the shaft housing or bearing surfaces.

Inspect the bearings for these improper wear conditions, and for:

A. pitting. B. rust. C. corrosion. D. Excessive clearance(play)

If you find any of the above stated damage. The bearings should be replaced not adjusted. To service the wheel bearings, you'll need to repack the bearings and replace the grease seal.

In short, Remove wheels and tires. Remove brake caliper and brake caliper mount. Remove axle. Take nuts off inside axle and remove entire hub. From back side remove bolts holding the rotors to the hubs.... remove rotor and reassemble in reverse. You will need new oil seals.... This is a heavy duty truck and has some big parts and some really large and tight bolts. Not a job for the meek!